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--Viewer : minor bugs; refactor drawEvent #1621

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Merged
jturner65 merged 5 commits into from
Jan 18, 2022
Merged

--Viewer : minor bugs; refactor drawEvent #1621

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2eea968
--properly map settings for agent, sensor and navmesh calc
jturner65 Jan 13, 2022
6dcc251
--relax slope - not uncommon for stairs to be 50 degrees
jturner65 Jan 13, 2022
26a390a
--modify navmesh settings to match agent settings.
jturner65 Jan 13, 2022
8639fae
--remove hardcoded angle.
jturner65 Jan 18, 2022
9eeb5b2
--clean up drawEvent
jturner65 Jan 18, 2022
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3 changes: 3 additions & 0 deletions examples/viewer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -545,6 +545,9 @@ def navmesh_config_and_recompute(self) -> None:
"""
self.navmesh_settings = habitat_sim.NavMeshSettings()
self.navmesh_settings.set_defaults()
self.navmesh_settings.agent_height = self.cfg.agents[self.agent_id].height
self.navmesh_settings.agent_radius = self.cfg.agents[self.agent_id].radius

self.sim.recompute_navmesh(
self.sim.pathfinder,
self.navmesh_settings,
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4 changes: 3 additions & 1 deletion src/utils/viewer/viewer.cpp
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Expand Up @@ -611,7 +611,7 @@ void addSensors(esp::agent::AgentConfiguration& agentConfig, bool isOrtho) {
sensorType == esp::sensor::SensorType::Semantic) {
spec->channels = 1;
}
spec->position = {0.0f, 1.5f, 0.0f};
spec->position = {0.0f, rgbSensorHeight, 0.0f};
spec->orientation = {0, 0, 0};
spec->resolution = esp::vec2i(viewportSize[1], viewportSize[0]);
};
Expand Down Expand Up @@ -977,6 +977,8 @@ void Viewer::initSimPostReconfigure() {
}
} else if (recomputeNavmesh_) {
esp::nav::NavMeshSettings navMeshSettings;
navMeshSettings.agentHeight = agentConfig_.height;
navMeshSettings.agentRadius = agentConfig_.radius;
simulator_->recomputeNavMesh(*simulator_->getPathFinder().get(),
navMeshSettings, true);
} else if (!navmeshFilename_.empty()) {
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